1. Adaptive robust H∞ control for double support balance systems.
- Author
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Li, Shujiang and Wang, Wei
- Subjects
- *
UNCERTAIN systems , *LINEAR systems , *UNCERTAINTY , *ADAPTIVE control systems - Abstract
In this paper, an adaptive robust H ∞ control scheme is developed for controlling double support balance systems with uncertain parameters and external disturbances. A coordination transformation of the dual-cylinder electro-hydraulic motion model is used to help in designing the H ∞ controller, which aims to against external disturbances and parameter uncertainties from the linear part of the system. An updating law for the parameters of the adaptive controller is proposed to compensate some negative effects caused by the nonlinear parameter drift. It can be clearly observed from the simulation results that the proposed control scheme performs robustly with respect to both the external disturbances and the system parameter uncertainties. [ABSTRACT FROM AUTHOR]
- Published
- 2020
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